File size: 2,831 Bytes
4523cad | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 | <mujoco model="model">
<compiler angle="radian"/>
<asset>
<texture file="visuals/material_0.png" name="tex-model" type="2d"/>
<texture type="2d" name="image5" file="visuals/image5.png"/>
<texture type="2d" name="image0" file="visuals/image0.png"/>
<texture type="2d" name="image2" file="visuals/image2.png"/>
<material name="model" reflectance="0.5" texrepeat="1 1" texture="tex-model" texuniform="false"/>
<material name="Control_Panel" texture="image5" specular="0.5" shininess="0.25"/>
<material name="Fridge" texture="image0" specular="0.5" shininess="0.25"/>
<material name="Handles" specular="0.5" shininess="0.25" rgba="0.098898 0.098898 0.098898 1.0"/>
<material name="Plastics" texture="image2" specular="0.5" shininess="0.25"/>
<mesh file="visuals/model_0.obj" name="model_0_vis" scale="1 1 1"/>
<mesh file="visuals/model_1.obj" name="model_1_vis" scale="1 1 1"/>
<mesh file="visuals/model_2.obj" name="model_2_vis" scale="1 1 1"/>
<mesh file="visuals/model_3.obj" name="model_3_vis" scale="1 1 1"/>
</asset>
<default>
<default class="visual">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="collision">
<geom group="0" rgba="0.5 0 0 0.5"/>
</default>
</default>
<worldbody>
<body>
<!-- exterior bounding box points -->
<site rgba="0 0 0 1" size="0.01" pos="-0.2532439640174165 -0.191 -0.49999999999999994" name="ext_p0"/>
<site rgba="1 0 0 1" size="0.01" pos="0.2532439640174165 -0.191 -0.49999999999999994" name="ext_px"/>
<site rgba="0 1 0 1" size="0.01" pos="-0.2532439640174165 0.19767553252307624 -0.49999999999999994" name="ext_py"/>
<site rgba="0 0 1 1" size="0.01" pos="-0.2532439640174165 -0.191 0.49999999999999994" name="ext_pz"/>
<!-- interior bounding box points -->
<body name="object">
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_0_vis" material="Handles" class="visual"/>
<!-- <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_1_vis" material="Control_Panel" class="visual"/> -->
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_2_vis" material="Plastics" class="visual"/>
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_3_vis" material="Fridge" class="visual"/>
<geom class="collision" type="box" pos="0 0.004 0" size="0.2532439640174165 0.195 0.49999999999999994"/>
<geom class="visual" type="box" pos="-0.14 -0.1855 0.1775" size="0.078 0.005 0.0302" material="Fridge"/>
</body>
</body>
</worldbody>
</mujoco>
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